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Teleoperation control method and system based on virtual reality compensation time delay

A remote operation control and virtual reality technology, applied in image data processing, instruments, etc., can solve the problems of no virtual and real camera calibration and registration, lack of feature position matching and correction, inability to achieve teleoperation experience, etc. Image transmission delay, avoid system problems, enhance the effect of realism

Active Publication Date: 2020-07-31
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the general virtual reality virtual manipulator model and the real image are simply superimposed, there is a lack of necessary feature position matching and correction, and there is no work such as calibration and registration of virtual and real cameras, and the error between the two is relatively large.
Moreover, the virtual graphics and actual images obtained by the system are two-dimensional, lacking a sense of three-dimensionality, and cannot realize a realistic teleoperation experience

Method used

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  • Teleoperation control method and system based on virtual reality compensation time delay
  • Teleoperation control method and system based on virtual reality compensation time delay
  • Teleoperation control method and system based on virtual reality compensation time delay

Examples

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Embodiment 1

[0072] figure 1 It is a flow chart of a teleoperation control method based on virtual reality to make up time delay according to Embodiment 1 of the present invention. see figure 1 , the remote operation control method based on virtual reality to make up for time delay in this embodiment includes:

[0073] Step S1: Establish an initial virtual robot model, a virtual camera and a background image according to the RCM mechanism at the slave end and the actual camera at the slave end; the initial virtual simulation model is established at the master end and used to simulate the RCM mechanism A three-dimensional virtual model; the virtual camera is a virtual camera established on the master end and used to simulate the actual camera; the master end communicates with the slave end.

[0074] In this embodiment, the actual camera is a global camera.

[0075] The step S1 specifically includes:

[0076] 11) Create a virtual RCM mechanism model using the OpenInventor graphics librar...

Embodiment 2

[0104] The teleoperation control method based on virtual reality to make up time delay in this embodiment is mainly divided into the construction of virtual environment and the virtual and real fusion of graphics and images. Based on the kinematics analysis of the slave RCM robot, the virtual simulation model of the master is established by using the OpenInventor graphics library. . Camera parameter calibration and corresponding image feature point recognition are performed on the actual global camera at the slave end. The virtual-real fusion technology is based on the detected image feature points, overlapping the virtual robot model with its actual image, and the rest of the image is used as the background of the model to simulate the surrounding environment, and continuously corrects the distance between the model and the image plane during the movement process. Relative deviation. The specific ideas are as follows:

[0105] First, build a virtual environment, which is a ...

Embodiment 3

[0143] This embodiment provides a teleoperation control system based on virtual reality to make up time delay, including:

[0144] Model construction module, for establishing initial virtual robot model, virtual camera and background image according to the RCM mechanism positioned at slave end and the actual camera positioned at said slave end; Said initial virtual simulation model is set up at master end and is used for simulating said A three-dimensional virtual model of the RCM mechanism; the virtual camera is a virtual camera established on the master end and used to simulate the actual camera; the master end communicates with the slave end.

[0145] The position information acquiring module is used to acquire the position information of the main hand; the position information of the main hand is the position information of the main operator located at the main end.

[0146] A model control module, configured to map the main hand position information to joint motions in th...

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Abstract

The invention discloses a teleoperation control method and system based on virtual reality compensation time delay. The method comprises the steps of establishing an initial virtual robot model, a virtual camera and a background image according to an RCM mechanism located at a slave end and an actual camera located at the slave end; acquiring master hand position information; mapping the master hand position information to joint motion in the initial virtual robot model to obtain a virtual robot model updated in real time; obtaining feature angular points of the slave end scene image; calculating virtual angular points of the virtual robot model; correcting the virtual simulation model through the slave end scene image feature angular points and the virtual angular points to obtain a corrected virtual simulation model; and obtaining an updated three-dimensional virtual scene model according to the corrected virtual simulation model, the virtual camera and the background image so as torealize teleoperation. According to the invention, the construction of the three-dimensional virtual model can be realized, and the sense of reality of teleoperation is enhanced while the control precision is improved.

Description

technical field [0001] The invention relates to the field of teleoperation robot control, in particular to a teleoperation control method and system based on virtual reality to compensate time delay. Background technique [0002] The teleoperation system is operated by an operator to operate a local robot to control the remote robot through the network to complete the specified work tasks. Teleoperation technology has been widely used in space technology, deep sea exploration, telemedicine and extreme environments. In the application of the teleoperation system, if the actions of the remote robot can be fed back to the main robot in real time, the operator's sense of presence will be greatly improved. Telepresence technology is the core of human-computer interaction teleoperation. [0003] The virtual environment prediction technology is to create a virtual simulation environment on the computer, mainly including the virtual slave robot and the virtual environment, and the...

Claims

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Application Information

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IPC IPC(8): G06T19/20G06T19/00
CPCG06T19/006G06T19/20
Inventor 林伟阳刘晨璐王立伟于兴虎高会军
Owner HARBIN INST OF TECH
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